基于双目视觉的焊缝跟踪系统研究

Research on a Welding Seam Tracking System Based on Binocular Vision

在自动焊接技术中,需要焊枪对焊缝实时而准确地跟踪。单目视觉系统不能实现对曲面焊缝的焊接。引入双目视觉技术,利用视觉反馈,实时监控焊点位置,减小自动焊接工作过程中的焊接误差,提高焊缝精度;对双目视觉系统进行标定,得到相机内外参数,利用投影矩阵M得到焊点三维坐标,并以此计算焊点的理论坐标误差,通过实时补偿,满足高精度焊接要求。实验表明,在加装双目视觉传感系统后,焊缝平均精度可达0.68mm,满足自动焊接的要求。

In automatic welding technology,weld joint needs to be tracked by the welding gun accurately in real time.The monocular vision system can not realize the welding of curved weld. In this paper,binocular vision technology is introduced and visual feedback is used to monitor the position of welding spot in real time,which reduce welding error in automatic welding process and improve weld accuracy;the binocular vision system is calibrated to obtain the internal and external parameters of the camera,and the 3 d coordinates of the solder points are obtained by using the projection matrix M. Then the theoretical coordinate error of weld joints is calculated,and the high precision welding requirements are met through real-time compensation. The experimental results show that the average welding accuracy can reach0.68 mm and meet the requirements of automatic welding after the binocular vision sensor system is installed.